Track planning method and system for lane centering auxiliary self-adaptive cruise

A technology of adaptive cruise and trajectory planning, which is applied in the field of trajectory planning of lane centering assisting adaptive cruise, and can solve the problems that vehicles cannot perform lateral control and automatic driving.

Active Publication Date: 2020-04-07
清华大学苏州汽车研究院(吴江)
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Problems solved by technology

However, in some scenarios where there are occlusions, no GPS positioning signals, or high-speed GPS signa

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  • Track planning method and system for lane centering auxiliary self-adaptive cruise
  • Track planning method and system for lane centering auxiliary self-adaptive cruise
  • Track planning method and system for lane centering auxiliary self-adaptive cruise

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[0053] Example

[0054] Such as figure 1 As shown, a lane centering assisted adaptive cruise trajectory planning system of the present invention includes a sensing module, a planning module, and a control module. The sensing module includes vehicle state data collected by a camera, millimeter wave radar and a vehicle state data acquisition module. The planning module includes lane line data processing component (module), obstacle data processing component (module) and trajectory planning component (module). The control module includes a horizontal control module and a vertical control module.

[0055] The lane line data processing component generates the region of interest of the vehicle based on the lane line data fed back by the camera, and sends the generated result to the obstacle data processing component.

[0056] Obstacle data processing component detects surrounding obstacles through millimeter wave radar. According to the generated results of the lane line data processing ...

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Abstract

The invention discloses a track planning method for lane centering auxiliary self-adaptive cruise, which comprises the following steps of: fitting lane lines according to acquired lane line data to obtain a lane line equation, and generating a region of interest of a vehicle; performing cost calculation on obstacles in the region of interest to obtain target obstacle information; calculating the road center line of the current lane according to the left and right lane line data, namely the optimal driving path; and carrying out longitudinal speed planning of the vehicle is carried out according to the target obstacle information in combination with the vehicle state information of the vehicle, obtaining a vehicle longitudinal speed curve, and completing the track planning, wherein the target obstacle information comprises the relative position of an obstacle and the vehicle and the speed information of the vehicle. When no RTK signal exists or the signal is lost, a transverse and longitudinal speed planning curve is obtained based on camera feedback data and millimeter wave data, transverse and longitudinal decoupling control is finally completed, and automatic driving of a low-cost hardware architecture under a structured road is achieved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a trajectory planning method and system for lane centering auxiliary adaptive cruise. Background technique [0002] With the continuous improvement of automobile intelligence, self-driving cars are becoming more and more mature. Advanced Driving Assistance Systems (ADAS, Advanced Driving Assistance Systems), such as Lane Centering Assist (LKA), Adaptive Cruise Control (ACC) and Emergency Braking (AEB), can greatly reduce driver fatigue and improve driving comfort and traffic efficiency . However, most of the driving assistance systems still belong to L2 driving assistance functions. For example, the lane centering assistance only controls the lateral steering wheel of the vehicle, and has no longitudinal planning control function. Adaptive cruise and emergency braking only control the longitudinal speed of the vehicle. out of certain limitations. For L3-level...

Claims

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Application Information

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IPC IPC(8): B60W30/095B60W30/14B60W40/105B60W40/00
CPCB60W30/095B60W30/143B60W40/00B60W40/105
Inventor 徐巍戴一凡韩海兰卢贤票王斌
Owner 清华大学苏州汽车研究院(吴江)
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